PulseAudio is simple to install, just install the "pulseaudio" package:
After installing, reboot. If I remember correctly, no further configuration is necessary. You'll also probably want to install Pulseaudio Volume Control, provided by the "pavucontrol" package, and Pulseaudio Preferences, provided by the "paprefs" package:
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sudo apt-get install pavucontrol paprefs
Pavucontrol is an advanced volume and device control program, paprefs lets you configure some advanced PulseAudio features if you wish.